CN109783374A - Code process method, apparatus, equipment and the computer storage medium in automatic Pilot field - Google Patents
Code process method, apparatus, equipment and the computer storage medium in automatic Pilot field Download PDFInfo
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- CN109783374A CN109783374A CN201811610813.7A CN201811610813A CN109783374A CN 109783374 A CN109783374 A CN 109783374A CN 201811610813 A CN201811610813 A CN 201811610813A CN 109783374 A CN109783374 A CN 109783374A
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Abstract
The present invention provides code process method, apparatus, equipment and the computer storage mediums in a kind of automatic Pilot field.Wherein method includes: acquisition source code；Start docker virtualized environment, comprising: source code described in carry to docker container, the docker container are constructed based on the running environment of automated driving system；Carry equipment and configuration file are to docker container, the equipment simulating automated driving system equipment；By the port mapping of the docker container to physical machine port；Based on the docker virtualized environment, the source code is compiled and is debugged.The present invention realizes compiling and debugging to source code using docker virtualization technology, and compare the mode for being deployed in and being debugged on material object, raising can efficiency of research and development, reduce costs.
Description
[technical field]
The present invention relates to computer application technology, in particular to a kind of automatic Pilot drives the code process side in field
Method, device, equipment and computer storage medium.
[background technique]
Automatic driving vehicle, also referred to as automatic driving vehicle are one kind of intelligent vehicle, are relied primarily on interior to calculate
Automated driving system based on machine system realizes unpiloted purpose.It perceives vehicle periphery ring by onboard sensor
Border, automatic planning travelling line simultaneously control vehicle and make it.Collect automatic control, architecture, artificial intelligence, visual meter
Numerous technologies such as calculation are in one.
In the R&D process of the functions code of automatic driving vehicle, currently used mode is in material object mostly
(actual vehicle) enterprising line code debugging, this mode need to be deployed in code on various automatic driving vehicles, on the one hand, effect
Rate is low, another aspect higher cost.
[summary of the invention]
In view of this, the present invention provides code process method, apparatus, equipment and the computers in a kind of automatic Pilot field
Storage medium reduces research and development cost in order to improve efficiency of research and development.
Specific technical solution is as follows:
On the one hand, the present invention provides a kind of code process methods in automatic Pilot field, this method comprises:
Obtain source code；
Start application container engine docker virtualized environment, comprising:
Source code described in carry is to docker container, running environment structure of the docker container based on automated driving system
It builds；
Carry equipment and configuration file are to docker container, the equipment simulating automated driving system equipment；
By the port mapping of the docker container to physical machine port；
Based on the docker virtualized environment, the source code is compiled and is debugged.
A preferred embodiment according to the present invention, the acquisition source code include:
The memory space of source code to physical machine is downloaded from preset address.
The running environment of a preferred embodiment according to the present invention, the automated driving system includes:
The software that the exploitation of operating system, drive software and the source code needs relies on.
A preferred embodiment according to the present invention, constructing the docker container includes:
Docker mirror image corresponding with the running environment of the automated driving system is downloaded from mirror image warehouse；
Based on the docker image starting docker container.
A preferred embodiment according to the present invention, the equipment comprise at least one of the following:
Video card, the network equipment and the controller local area network's CAN card of physical machine.
A preferred embodiment according to the present invention, the configuration file comprise at least one of the following:
Network profile and account configuration file.
A preferred embodiment according to the present invention, this method further include:
The compiling result that debugging passes through is sent to cloud server, so that automatic driving vehicle passes through over the air
OTA obtains the compiling result from the cloud server.
On the other hand, the present invention also provides a kind of code processing apparatus in automatic Pilot field, which includes:
Acquiring unit, for obtaining source code；
Start unit, for starting docker virtualized environment, comprising:
Source code described in carry is to docker container, running environment structure of the docker container based on automated driving system
It builds；
Carry equipment and configuration file are to docker container, the equipment simulating automated driving system equipment；
By the port mapping of the docker container to physical machine port；
Development block is compiled and debugs to the source code for being based on the docker virtualized environment.
A preferred embodiment according to the present invention, the device further include:
Construction unit, for constructing the docker container, comprising:
Docker mirror image corresponding with the running environment of the automated driving system is downloaded from mirror image warehouse；
Based on the docker image starting docker container.
A preferred embodiment according to the present invention, the device further include:
Transmission unit, the compiling result for passing through debugging are sent to cloud server, so that automatic driving vehicle is logical
It crosses over the air OTA and obtains the compiling result from the cloud server.
In another aspect, the present invention also provides a kind of equipment, the equipment includes:
One or more processors；
Storage device, for storing one or more programs,
When one or more of programs are executed by one or more of processors, so that one or more of processing
Device realizes above-mentioned method.
In another aspect, the present invention also provides a kind of storage medium comprising computer executable instructions, the computer
Method of the executable instruction when being executed by computer processor for executing the brief biography of a deceased person.
As can be seen from the above technical solutions, the present invention realized using docker virtualization technology to the compiling of source code and
Debugging, compare the mode for being deployed in and being debugged on material object, improves efficiency of research and development, reduces costs.
[Detailed description of the invention]
Fig. 1 is main method flow chart provided in an embodiment of the present invention；
Fig. 2 is the flow chart of starting docker virtualized environment provided in an embodiment of the present invention；
Fig. 3 is the structural schematic diagram of code processing apparatus provided in an embodiment of the present invention；
Fig. 4 shows the block diagram for being suitable for the exemplary computer system/server for being used to realize embodiment of the present invention.
[specific embodiment]
To make the objectives, technical solutions, and advantages of the present invention clearer, right in the following with reference to the drawings and specific embodiments
The present invention is described in detail.
In the prior art using by the way of in kind (actual vehicle) enterprising line code debugging, inefficiency and cost compared with
Height, and existing offline development environment often with vehicle end is all then isomery on hardware and software, can not simulate the shape at vehicle end
State, causes the output after debugging offline to be deployed to Che Duanhou, and program behavior does not meet expected or even can not work.The application is based on
Docker virtualization technology virtualizes vehicle end ring border, to be adapted to the various exploitation environment at offline debugging end.Below with reference to
Method provided by the invention is described in detail in embodiment.
Fig. 1 is main method flow chart provided in an embodiment of the present invention, and as shown in fig. 1, this method may include following
Step:
In 101, source code is obtained.
The memory space of source code to physical machine is downloaded from preset address.The wherein new function that source code can be developed
Code can be the function code after being updated to function code before, be also possible to after repairing to great loophole
Function code etc..
In embodiments of the present invention, source code can be downloaded from server end to the memory space of physical machine, be also possible to
The memory space that source code to physical machine is downloaded from unified code storage is also possible to receive from other equipment transmission
Source code is simultaneously stored to the memory space of physical machine.
In 102, start docker virtualized environment.
Docker is the application container engine of an open source, allows developer that can be packaged application and dependence packet can to one
Virtualization is realized in the container of transplanting.The docker virtualized environment simulation vehicle end real hardware and software loop started in this step
Border.Specifically, as shown in Figure 2, this step can with specifically includes the following steps:
In 1021, carry source code to docker container, operation ring of the docker container based on automated driving system
Border building.
By under the specified directory of source code carry to virtualized environment, which can carry out according to specific exploration project
Definition, such as under carry to catalogue "/apollo ".
Wherein, the running environment of automated driving system is mainly software environment, such as may include: operating system, driving
The software that the exploitation of software and the source code needs relies on.It can specifically include the letter such as title, version number, bibliographic structure
Breath.
It is directed to the building of docker container, can specifically include: from the downloading of mirror image warehouse and automated driving system
The corresponding docker mirror image of running environment, be based on the docker image starting docker container.
Mirror image warehouse is the warehouse for leaving docker mirror image concentratedly, and different physical machines can download docker from the warehouse
Mirror image.Read-only template when docker mirror image is the operation of docker container passes through docker image starting docker container, operation
Service.In embodiments of the present invention, the running environment that can be in advance based on various automated driving systems builds docker mirror image
And it is uniformly stored in mirror image warehouse, it is downloaded from mirror image warehouse in this step according to the running environment of automated driving system corresponding
Docker mirror image.It is then based on the docker image starting docker container of downloading, to complete docker container
Building.It is not intended to limit the specific construction method of docker mirror image in embodiments of the present invention, can use any method and construct
The docker mirror image arrived.
1022, carry equipment and configuration file are to docker container, the equipment simulating automated driving system equipment.
The carry of equipment and configuration file is referred to the catalogue carry of facility inventory and configuration file to virtualized environment
Specified directory under, enable equipment and configuration file associated with virtualized environment so as to accessed.Specifically, if
It is standby can be with carry under such as "/dev " catalogue, configuration file can be with carry under such as "/etc " catalogue.
Above-mentioned equipment is simulated to automated driving system equipment, and the simulation of hardware device is mainly reflected in.It can be with
Specifically include following at least one: (Controller Area Network is controlled video card, the network equipment and the CAN of physical machine
Device local area network) card.Configuration file may include following at least one: network profile and account configuration file.Wherein net
The carry of network configuration file makes docker container be able to use network interface card to connect network, and the carry of account configuration file is main
Physical machine account is logged in for virtual environment (docker container), avoids the various problems caused by mismatching because of account.
1023, by the port mapping of docker container to physical machine port.
Serve port in docker container is mainly mapped to physical machine (host by port mapping involved in this step
Machine) port, so that external program is able to access that docker container.It can be the serve port that will be specified in docker container
It is mapped to the designated port of physical machine.Such as: 8888 port mappings that debugging control service in docker container is used to object
8888 ports of reason machine, facilitate developer to debug；8001 ports that remote procedure call service in docker container is used
Map to 8001 ports of physical machine.
So far, docker virtualized environment starting finishes.With continued reference to Fig. 1.
In 103, it is based on docker virtualized environment, source code is compiled and is debugged.
Under docker virtualized environment, source code is compiled after receiving compiling instruction, target program is generated and (compiles
Translate result).Then according to the debugging instruction received, target program is debugged.The process is not detailed.
In 104, the compiling result that debugging passes through is sent to cloud server.
In inventive embodiments, compiling result can be sent to cloud server unified management and maintenance.It is logical for debugging
The compiling crossed is as a result, cloud server can be sent to by compiling result according to user instructions.It is sent to the volume of cloud server
Translate result can be compressed, encrypted etc. treated compiling result.
Automatic driving vehicle can obtain compiling result from cloud server.Preferably, OTA (Over the can be passed through
Air Technology, over the air) from cloud server obtain compiling result.
The compiling result of server storage can be issued to automatic driving vehicle by OTA mode beyond the clouds.This was issued
Journey can be cloud server active push, be also possible to what the request based on automatic driving vehicle was sent.
OTA is a kind of standard software upgrading mode, and terminal mainly passes through wireless network (such as nets such as WIFI, 3G, 4G, 5G
Network) downloading OTA upgrade package upgrade automatically.Also it supports through downloading OTA upgrade package to SD card (Secure Digital Memory
Card, safety digital storage card) carry out software upgrading.In embodiments of the present invention, cloud server maintenance compiling result with
The form of OTA upgrade package is supplied to automatic driving vehicle.
The above method provided in an embodiment of the present invention can be applied to plurality of application scenes, such as automatic driving vehicle
The issuing of new function application program, the function renewal of existing application program, the loophole reparation of existing application program etc..
For having the function renewal of application program, developer develops the application program after more new function or plug-in unit
Afterwards, its corresponding source code is downloaded to the memory space of physical machine.The carry source code is targeted certainly to this update is based on
The docker container of the dynamic running environment building for driving automated driving system used in vehicle, then carry physical machine video card,
The configuration files such as the equipment such as the network equipment, CAN and network profile, account configuration file are to docker container.These set
Standby and configuration file is the simulation for updating the equipment of targeted automatic driving vehicle to this and carrying out.By the end of docker container
Mouth maps to physical machine port, the port mapping including debugging control service, remote procedure call service etc..It then can be
Compiling result (the corresponding target of source code that source code is compiled and is debugged in the docker container, and debugging is passed through
Program) it is sent to cloud server and carries out unified maintenance.Then the target program is issued to by cloud server by OTA technology
This updates targeted each automatic driving vehicle, and the function renewal of application program is carried out for each automatic driving vehicle.
It is the detailed description carried out to method provided by the present invention above, the embodiment of the present invention is provided below with reference to Fig. 3
Code processing apparatus be described in detail.As shown in figure 3, the apparatus may include: it acquiring unit 01, start unit 02 and opens
Bill member 03 can also include construction unit 04 and transmission unit 05.
Acquiring unit 01 is responsible for obtaining source code.The memory space of source code to physical machine is downloaded from preset address.Its
The new function code that middle source code can be developed, can be the function code after being updated to function code before, can also
To be the function code etc. after being repaired to great loophole.It in embodiments of the present invention, can be from server end loading source
Code is also possible to download the storage sky of source code to physical machine from unified code storage to the memory space of physical machine
Between, it is also possible to receive the source code come from other equipment transmission and is stored to the memory space of physical machine.
Start unit 02 is responsible for starting docker virtualized environment, specifically includes: carry source code to docker container,
Docker container is constructed based on the running environment of automated driving system；Carry equipment and configuration file are to docker container, equipment
Simulate automated driving system equipment；By the port mapping of docker container to physical machine port.
Wherein, the running environment of automated driving system is mainly software environment, such as may include: operating system, driving
The software that the exploitation of software and the source code needs relies on.It can specifically include the letter such as title, version number, bibliographic structure
Breath.
It is directed to the building of docker container, can be completed by construction unit 04.Specifically, construction unit 04 can
To download docker mirror image corresponding with the running environment of automated driving system from mirror image warehouse；Based on docker image starting
Docker container.
The carry of equipment and configuration file is referred to the catalogue carry of facility inventory and configuration file to virtualized environment
Specified directory under, enable equipment and configuration file associated with virtualized environment so as to accessed.
Above-mentioned equipment is simulated to automated driving system equipment, and the simulation of hardware device is mainly reflected in.It can be with
Specifically include following at least one: the video card of physical machine, the network equipment and CAN (ControllerArea Network, controller
Local area network) card.Configuration file may include following at least one: network profile and account configuration file.
Serve port in docker container is mainly mapped to physical machine (host) port by port mapping, to make
It obtains external program and is able to access that docker container.It can be and the serve port specified in docker container is mapped to physical machine
Designated port.
Development block 03 is responsible for being based on docker virtualized environment, is compiled and debugs to source code.
Transmission unit 05 is responsible for the compiling result that debugging passes through being sent to cloud server, so that automatic driving vehicle is logical
It crosses aerial OTA and obtains compiling result from cloud server.
Fig. 4 shows the block diagram for being suitable for the exemplary computer system for being used to realize embodiment of the present invention.What Fig. 4 was shown
Computer system is only an example, should not function to the embodiment of the present invention and use scope bring any restrictions.
As shown in figure 4, computer system is showed in the form of universal computing device.The component of computer system may include
But be not limited to: one or more processor or processing unit 016, system storage 028 connect different system component (packets
Include system storage 028 and processing unit 016) bus 018.
Bus 018 indicates one of a few class bus structures or a variety of, including memory bus or Memory Controller,
Peripheral bus, graphics acceleration port, processor or the local bus using any bus structures in a variety of bus structures.It lifts
For example, these architectures include but is not limited to industry standard architecture (ISA) bus, microchannel architecture (MAC)
Bus, enhanced isa bus, Video Electronics Standards Association (VESA) local bus and peripheral component interconnection (PCI) bus.
Computer system typically comprises a variety of computer system readable media.These media can be and any can be counted
The usable medium of calculation machine system access, including volatile and non-volatile media, moveable and immovable medium.
System storage 028 may include the computer system readable media of form of volatile memory, such as deposit at random
Access to memory (RAM) 030 and/or cache memory 032.Computer system may further include it is other it is removable/no
Movably, volatile/non-volatile computer system storage medium.Only as an example, storage system 034 can be used for reading and writing
Immovable, non-volatile magnetic media (Fig. 4 do not show, commonly referred to as " hard disk drive ").Although not shown in fig 4, may be used
To provide the disc driver for reading and writing to removable non-volatile magnetic disk (such as " floppy disk "), and it is non-volatile to moving
Property CD (such as CD-ROM, DVD-ROM or other optical mediums) read and write CD drive.In these cases, each drive
Dynamic device can be connected by one or more data media interfaces with bus 018.Memory 028 may include at least one journey
Sequence product, the program product have one group of (for example, at least one) program module, these program modules are configured to perform this hair
The function of bright each embodiment.
Program/utility 040 with one group of (at least one) program module 042, can store in such as memory
In 028, such program module 042 includes --- but being not limited to --- operating system, one or more application program, other
It may include the realization of network environment in program module and program data, each of these examples or certain combination.Journey
Sequence module 042 usually executes function and/or method in embodiment described in the invention.
Computer system can also be with one or more external equipments 014 (such as keyboard, sensing equipment, display 024
Deng) communication, in the present invention, computer system is communicated with external radar equipment, can also to use with one or more
The communication of equipment that family can be interacted with the computer system, and/or with enable the computer system and one or more of the other meter
Calculate any equipment (such as network interface card, modem etc.) communication that equipment is communicated.This communication can by input/it is defeated
(I/O) interface 022 carries out out.Also, computer system can also pass through network adapter 020 and one or more network
(such as local area network (LAN), wide area network (WAN) and/or public network, such as internet) communication.As shown, network adapter
020 is communicated by bus 018 with other modules of computer system.It should be understood that although not shown in fig 4, it can be in conjunction with meter
Calculation machine system uses other hardware and/or software module, including but not limited to: microcode, device driver, redundancy processing are single
Member, external disk drive array, RAID system, tape drive and data backup storage system etc..
Processing unit 016 by the program that is stored in system storage 028 of operation, thereby executing various function application with
And data processing, such as realize method flow provided by the embodiment of the present invention.
Above-mentioned computer program can be set in computer storage medium, i.e., the computer storage medium is encoded with
Computer program, the program by one or more computers when being executed, so that one or more computers execute in the present invention
State method flow shown in embodiment and/or device operation.For example, it is real to execute the present invention by said one or multiple processors
Apply method flow provided by example.
With time, the development of technology, medium meaning is more and more extensive, and the route of transmission of computer program is no longer limited by
Tangible medium, can also be directly from network downloading etc..It can be using any combination of one or more computer-readable media.
Computer-readable medium can be computer-readable signal media or computer readable storage medium.Computer-readable storage medium
Matter for example may be-but not limited to-system, device or the device of electricity, magnetic, optical, electromagnetic, infrared ray or semiconductor, or
Any above combination of person.The more specific example (non exhaustive list) of computer readable storage medium includes: with one
Or the electrical connections of multiple conducting wires, portable computer diskette, hard disk, random access memory (RAM), read-only memory (ROM),
Erasable programmable read only memory (EPROM or flash memory), optical fiber, portable compact disc read-only memory (CD-ROM), light
Memory device, magnetic memory device or above-mentioned any appropriate combination.In this document, computer readable storage medium can
With to be any include or the tangible medium of storage program, the program can be commanded execution system, device or device use or
Person is in connection.
Computer-readable signal media may include in a base band or as carrier wave a part propagate data-signal,
Wherein carry computer-readable program code.The data-signal of this propagation can take various forms, including --- but
It is not limited to --- electromagnetic signal, optical signal or above-mentioned any appropriate combination.Computer-readable signal media can also be
Any computer-readable medium other than computer readable storage medium, which can send, propagate or
Transmission is for by the use of instruction execution system, device or device or program in connection.
The program code for including on computer-readable medium can transmit with any suitable medium, including --- but it is unlimited
In --- wireless, electric wire, optical cable, RF etc. or above-mentioned any appropriate combination.
The computer for executing operation of the present invention can be write with one or more programming languages or combinations thereof
Program code, described program design language include object oriented program language-such as Java, Smalltalk, C++,
It further include conventional procedural programming language-such as " C " language or similar programming language.Program code can be with
It fully executes, partly execute on the user computer on the user computer, being executed as an independent software package, portion
Divide and partially executes or executed on a remote computer or server completely on the remote computer on the user computer.?
Be related in the situation of remote computer, remote computer can pass through the network of any kind --- including local area network (LAN) or
Wide area network (WAN) is connected to subscriber computer, or, it may be connected to outer computer (such as provided using Internet service
Quotient is connected by internet).
Above-mentioned computer system can be presented as the computer system of automatic driving vehicle in the present invention.
Method, apparatus, equipment and computer storage medium provided by the invention can have it can be seen from above description
Following advantages:
1) present invention realizes compiling and debugging to source code using docker virtualization technology, compares and is deployed in material object
On the mode debugged, improve efficiency of research and development, reduce costs.
2) development environment realizes that isomorphism, more preferable simulation vehicle end state make with automatic driving vehicle on hardware and software
Program behavior after result is deployed in vehicle must be researched and developed can meet expection well.
3) after the vehicle end ring border simulated is destroyed, it can be easy to restore, further improve efficiency of research and development, reduce
Cost.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Within mind and principle, any modification, equivalent substitution, improvement and etc. done be should be included within the scope of the present invention.
Claims (12)
1. a kind of code process method in automatic Pilot field, which is characterized in that this method comprises:
Obtain source code；
Start application container engine docker virtualized environment, comprising:
Source code described in carry to docker container, the docker container is constructed based on the running environment of automated driving system；
Carry equipment and configuration file are to docker container, the equipment simulating automated driving system equipment；
By the port mapping of the docker container to physical machine port；
Based on the docker virtualized environment, the source code is compiled and is debugged.
2. the method according to claim 1, wherein the acquisition source code includes:
The memory space of source code to physical machine is downloaded from preset address.
3. the method according to claim 1, wherein the running environment of the automated driving system includes:
The software that the exploitation of operating system, drive software and the source code needs relies on.
4. method according to claim 1 or 3, which is characterized in that constructing the docker container includes:
Docker mirror image corresponding with the running environment of the automated driving system is downloaded from mirror image warehouse；
Based on the docker image starting docker container.
5. the method according to claim 1, wherein the equipment comprises at least one of the following:
Video card, the network equipment and the controller local area network's CAN card of physical machine.
6. the method according to claim 1, wherein the configuration file comprises at least one of the following:
Network profile and account configuration file.
7. the method according to claim 1, wherein this method further include:
The compiling result that debugging passes through is sent to cloud server, so that automatic driving vehicle passes through over the air OTA
The compiling result is obtained from the cloud server.
8. a kind of code processing apparatus in automatic Pilot field, which is characterized in that the device includes:
Acquiring unit, for obtaining source code；
Start unit, for starting docker virtualized environment, comprising:
Source code described in carry to docker container, the docker container is constructed based on the running environment of automated driving system；
Carry equipment and configuration file are to docker container, the equipment simulating automated driving system equipment；
By the port mapping of the docker container to physical machine port；
Development block is compiled and debugs to the source code for being based on the docker virtualized environment.
9. device according to claim 8, which is characterized in that the device further include:
Construction unit, for constructing the docker container, comprising:
Docker mirror image corresponding with the running environment of the automated driving system is downloaded from mirror image warehouse；
Based on the docker image starting docker container.
10. device according to claim 8, which is characterized in that the device further include:
Transmission unit, the compiling result for passing through debugging is sent to cloud server, so that automatic driving vehicle passes through sky
Middle download technology OTA obtains the compiling result from the cloud server.
11. a kind of equipment, which is characterized in that the equipment includes:
One or more processors；
Storage device, for storing one or more programs,
When one or more of programs are executed by one or more of processors, so that one or more of processors are real
The now method as described in any in claim 1-7.
12. a kind of storage medium comprising computer executable instructions, the computer executable instructions are by computer disposal
For executing the method as described in any in claim 1-7 when device executes.
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| CN111506393A (en) * | 2020-04-09 | 2020-08-07 | 上海舒岚网络科技有限公司 | ARM-based virtualization device and use method thereof |
| CN112416737A (en) * | 2019-08-21 | 2021-02-26 | 广州虎牙科技有限公司 | Container testing method, device, equipment and storage medium |
| CN114297089A (en) * | 2022-03-02 | 2022-04-08 | 杭州海康威视数字技术股份有限公司 | Python remote dynamic debugging method and system based on container |
| WO2023246128A1 (en) * | 2022-06-24 | 2023-12-28 | 比亚迪股份有限公司 | Software model architecture, battery management system controller and vehicle |
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